❶ 濡備綍璇勪環ORB-SLAM3錛
鎴戣夊緱 ORB-SLAM3 緋葷粺鏄鍩轟簬涔嬪墠鐨 ORB-SLAM2銆丱RB-SLAM-VI 榪涜屾墿灞曘備綔鑰呯粍鐨勫伐浣滀竴鑴夌浉鎵匡紝鍥寸粫鐫 ORB feature-based SLAM 鍋氫簡闈炲父澶氭湁閲嶅ぇ鎰忎箟鐨勫伐浣溿傛湰鏂囧叾涓鍦ㄤ竴浜涢噸瑕佹敼榪涙ā鍧楋紝濡 IMU 鍒濆嬪寲銆乵ulti-map system 絳夛紝鏄浣滆呯粍閲屽墠鍑犲勾鐨勫伐浣溿傛垜璁や負榪欐槸涓綃囨洿鍔犲嚲鍚戜簬緋葷粺鎬ц川鐨勬枃絝狅紝鎶婅繖涔堝氬伐浣滀覆浜嗚搗鏉ワ紝騫朵笖浣滆呴潪甯告叿鎱ㄧ殑鎶婂畠寮婧愪簡鍑烘潵錛岄潪甯歌禐錛